DOC-0017-07-EN: AC20 Series - EtherCAT Option
DOC-0017-07-EN-A
27.03.2023
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8.3 Acyclic Data Exchange
AC20 parameters may be accessed using the SDO (Service Data Object) protocol. The parameter
numbers are mapped to the manufacturer specific range as described in the Manufacturer Specific
Objects section.
Accessing Parameters
The value of a single-element AC20 parameter is accessed by via its corresponding object:
index = 2000h + parameter number
sub-index = 00h
The values of a multi-element AC20 parameter are accessed via its corresponding object:
index = 2000h + parameter number
sub-index = element 1
Alternatively, each element has its own parameter number and may be accessed via its corresponding
object index.
A string parameter array must be accessed via each element of the array. Each element has its own
parameter number.
Status Codes
The following CANopen report codes may be reported
CANopen Abort Code
Description
0602 0000h
Object does not exist in the object dictionary (Parameter does not exist)
0609 0011h
Sub-index does not exist
0601 0002h
Attempt to write to read-only object
0601 0001h
Attempt to read a write-only object
0607 0012h
Data type does not match. Too much data.
0607 0013h
Data type does not match. Not enough data.
0609 0030h
Out of range.
8.4 EtherCAT ESI File
AC20 EtherCAT option is associated with an Electronic Slave Interface (ESI file) in XML format, which
holds a description of the device and its functions.
ESI files for the AC20 EtherCAT option may be downloaded from www.parker.com
Some masters do not require an ESI file and can automatically extract the configuration description from
the slave.
